EP0237577A4 - Industrial robot having replaceable modules. - Google Patents

Industrial robot having replaceable modules.

Info

Publication number
EP0237577A4
EP0237577A4 EP19860905419 EP86905419A EP0237577A4 EP 0237577 A4 EP0237577 A4 EP 0237577A4 EP 19860905419 EP19860905419 EP 19860905419 EP 86905419 A EP86905419 A EP 86905419A EP 0237577 A4 EP0237577 A4 EP 0237577A4
Authority
EP
European Patent Office
Prior art keywords
industrial robot
replaceable modules
replaceable
modules
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19860905419
Other languages
German (de)
French (fr)
Other versions
EP0237577A1 (en
EP0237577B1 (en
Inventor
Nobutoshi Torii
Ryo Nihei
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP0237577A1 publication Critical patent/EP0237577A1/en
Publication of EP0237577A4 publication Critical patent/EP0237577A4/en
Application granted granted Critical
Publication of EP0237577B1 publication Critical patent/EP0237577B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q37/00—Metal-working machines, or constructional combinations thereof, built-up from units designed so that at least some of the units can form parts of different machines or combinations; Units therefor in so far as the feature of interchangeability is important
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
EP86905419A 1985-09-11 1986-09-11 Industrial robot having replaceable modules Expired - Lifetime EP0237577B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP60200815A JPS6263078A (en) 1985-09-11 1985-09-11 Module system in industrial robot
JP200815/85 1985-09-11

Publications (3)

Publication Number Publication Date
EP0237577A1 EP0237577A1 (en) 1987-09-23
EP0237577A4 true EP0237577A4 (en) 1988-03-21
EP0237577B1 EP0237577B1 (en) 1991-11-06

Family

ID=16430653

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86905419A Expired - Lifetime EP0237577B1 (en) 1985-09-11 1986-09-11 Industrial robot having replaceable modules

Country Status (6)

Country Link
US (1) US4829840A (en)
EP (1) EP0237577B1 (en)
JP (1) JPS6263078A (en)
KR (1) KR930004185B1 (en)
DE (1) DE3682394D1 (en)
WO (1) WO1987001644A1 (en)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6423387U (en) * 1987-07-29 1989-02-07
JPH01316184A (en) * 1988-06-14 1989-12-21 Mitsubishi Electric Corp Industrial robot
JP2525462B2 (en) * 1988-06-23 1996-08-21 ファナック株式会社 Shaft support structure of industrial robot
JPH0224075A (en) * 1988-07-13 1990-01-26 Mitsubishi Electric Corp Industrial robot
GB2225767A (en) * 1988-10-06 1990-06-13 Mohammad Javad Birjandi Manipulator for electromagnetic field detecting coil
JP2514789Y2 (en) * 1989-02-09 1996-10-23 川崎重工業株式会社 Wrist structure of industrial robot
IT1245512B (en) * 1991-02-15 1994-09-29 Comau Spa ARTICULATED ROBOT WITH DOUBLE FOREARM
US5769184A (en) * 1996-09-27 1998-06-23 Brooks Automation, Inc. Coaxial drive elevator
JP2000167792A (en) * 1998-12-04 2000-06-20 Daihen Corp Conveyance device
US6601468B2 (en) * 2000-10-24 2003-08-05 Innovative Robotic Solutions Drive system for multiple axis robot arm
JP2002166377A (en) * 2000-12-04 2002-06-11 Yaskawa Electric Corp Robot for substrate conveyance
KR101041685B1 (en) * 2005-02-12 2011-06-14 어플라이드 머티어리얼스, 인코포레이티드 Multi-axis vacuum motor assembly
WO2007034561A1 (en) * 2005-09-26 2007-03-29 Toshiaki Shimada Industrial robot
JP4605560B2 (en) * 2005-12-05 2011-01-05 日本電産サンキョー株式会社 Industrial robot
US20090084927A1 (en) * 2007-09-27 2009-04-02 Fanuc Ltd Industrial robot
JP5391857B2 (en) * 2009-06-17 2014-01-15 シンフォニアテクノロジー株式会社 Substrate transfer robot
KR101145599B1 (en) * 2010-04-14 2012-05-15 순천향대학교 산학협력단 A homemaid robot having lift construction
US8620489B2 (en) 2010-12-24 2013-12-31 Microsoft Corporation Robotic drive system modularity
CA3107180C (en) 2016-09-06 2022-10-04 Advanced Intelligent Systems Inc. Mobile work station for transporting a plurality of articles
US10737817B2 (en) * 2016-09-26 2020-08-11 Yaskawa America, Inc. Method, apparatus, and system for robotic article handling
WO2019157587A1 (en) 2018-02-15 2019-08-22 Advanced Intelligent Systems Inc. Apparatus for supporting an article during transport
US10745219B2 (en) 2018-09-28 2020-08-18 Advanced Intelligent Systems Inc. Manipulator apparatus, methods, and systems with at least one cable
US10751888B2 (en) 2018-10-04 2020-08-25 Advanced Intelligent Systems Inc. Manipulator apparatus for operating on articles
FI20185889A (en) * 2018-10-23 2020-04-24 Masinova Oy An arrangement for feeding various energies in connection with a motor unit
US10645882B1 (en) 2018-10-29 2020-05-12 Advanced Intelligent Systems Inc. Method and apparatus for performing pruning operations using an autonomous vehicle
US10966374B2 (en) 2018-10-29 2021-04-06 Advanced Intelligent Systems Inc. Method and apparatus for performing pruning operations using an autonomous vehicle
US10676279B1 (en) 2018-11-20 2020-06-09 Advanced Intelligent Systems Inc. Systems, methods, and storage units for article transport and storage
US11396105B2 (en) 2019-02-21 2022-07-26 Abb Schweiz Ag Sensor module for a robot
CN112247910B (en) * 2020-10-23 2023-12-15 埃夫特智能装备股份有限公司 Assembly auxiliary tool for swivel base part of interchangeable industrial robot base
US20220143814A1 (en) * 2020-11-11 2022-05-12 Omron Corporation Reconfigurable controller base for robotic arm

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1245618A (en) * 1958-09-19 1960-11-10 Gen Mills Inc Manipulator
DE2537800A1 (en) * 1975-01-03 1976-07-08 Oboni G Manipulator for industrial handling purposes - is readily adapted by units which can be dismantled or recombined
CH642296A5 (en) * 1980-01-24 1984-04-13 Rueti Te Strake Bv Manipulator
DE3323976A1 (en) * 1983-03-03 1984-09-06 Nakanishi Machine Co., Ltd., Kadoma, Osaka Multi-joint robot
DE8511473U1 (en) * 1985-04-18 1985-07-04 Kovarik, Frantisek, Dipl.-Ing., 6250 Limburg Handling device

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2224349C3 (en) * 1972-05-18 1978-11-23 Pfaff Pietzsch Industrieroboter Gmbh, 7505 Ettlingen manipulator
US3805629A (en) * 1972-06-01 1974-04-23 Usm Corp Devices for linear and rotational movements
US3888362A (en) * 1973-05-31 1975-06-10 Nasa Cooperative multiaxis sensor for teleoperation of article manipulating apparatus
FR2324407A1 (en) * 1975-09-22 1977-04-15 Sofermo MODULAR ROBOT OF ADAPTABLE CONFIGURATION
JPS5751829Y2 (en) * 1976-09-22 1982-11-11
SU763082A1 (en) * 1977-07-01 1980-09-15 Предприятие П/Я Р-6930 Modular manipulator
US4636138A (en) * 1982-02-05 1987-01-13 American Robot Corporation Industrial robot
JPS58149189A (en) * 1982-03-01 1983-09-05 セイコーインスツルメンツ株式会社 Turning lifting mechanism of industrial robot
JPS5924977A (en) * 1982-08-04 1984-02-08 日本サ−ボ株式会社 Robot device
DE3372942D1 (en) * 1982-09-25 1987-09-17 Fujitsu Ltd A multi-articulated robot
JPS5959385A (en) * 1982-09-25 1984-04-05 富士通株式会社 Joint unit
US4585387A (en) * 1983-10-11 1986-04-29 William Jayne Robot arm
US4600355A (en) * 1984-08-29 1986-07-15 Cybot, Inc. Modular robotics system with basic interchangeable parts
JPH05267167A (en) * 1992-03-18 1993-10-15 Fujitsu Ltd Crystal growth method for iii-v compound semiconductor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1245618A (en) * 1958-09-19 1960-11-10 Gen Mills Inc Manipulator
DE2537800A1 (en) * 1975-01-03 1976-07-08 Oboni G Manipulator for industrial handling purposes - is readily adapted by units which can be dismantled or recombined
CH642296A5 (en) * 1980-01-24 1984-04-13 Rueti Te Strake Bv Manipulator
DE3323976A1 (en) * 1983-03-03 1984-09-06 Nakanishi Machine Co., Ltd., Kadoma, Osaka Multi-joint robot
DE8511473U1 (en) * 1985-04-18 1985-07-04 Kovarik, Frantisek, Dipl.-Ing., 6250 Limburg Handling device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO8701644A1 *

Also Published As

Publication number Publication date
US4829840A (en) 1989-05-16
JPS6263078A (en) 1987-03-19
EP0237577A1 (en) 1987-09-23
WO1987001644A1 (en) 1987-03-26
EP0237577B1 (en) 1991-11-06
DE3682394D1 (en) 1991-12-12
KR930004185B1 (en) 1993-05-21
KR870700464A (en) 1987-12-29

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